Nazari Ali A, Zareinia Kourosh, Janabi-Sharifi Farrokh
Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada.
Int J Med Robot. 2022 Jun;18(3):e2384. doi: 10.1002/rcs.2384. Epub 2022 Mar 7.
Recent advancements in continuum robotics have accentuated developing efficient and stable controllers to handle shape deformation and compliance. The control of continuum robots (CRs) using physical sensors attached to the robot, particularly in confined spaces, is difficult due to their limited accuracy in three-dimensional deflections and challenging localisation. Therefore, using non-contact imaging sensors finds noticeable importance, particularly in medical scenarios. Accordingly, given the need for direct control of the robot tip and notable uncertainties in the kinematics and dynamics of CRs, many papers have focussed on the visual servoing (VS) of CRs in recent years.
The significance of this research towards safe human-robot interaction has fuelled our survey on the previous methods, current challenges, and future opportunities.
Beginning with actuation modalities and modelling approaches, the paper investigates VS methods in medical and non-medical scenarios.
Finally, challenges and prospects of VS for CRs are discussed, followed by concluding remarks.
连续体机器人技术的最新进展突出了开发高效稳定的控制器以处理形状变形和柔顺性的重要性。使用附着在机器人上的物理传感器来控制连续体机器人（CR）很困难，尤其是在受限空间中，因为它们在三维偏转方面的精度有限且定位具有挑战性。因此，使用非接触式成像传感器具有显著的重要性，特别是在医疗场景中。相应地，鉴于需要直接控制机器人末端以及CR的运动学和动力学中存在显著的不确定性，近年来许多论文都聚焦于CR的视觉伺服（VS）。
这项研究对安全人机交互的重要性促使我们对先前的方法、当前的挑战和未来的机遇进行了调查。
从驱动方式和建模方法开始，本文研究了医疗和非医疗场景中的VS方法。
最后，讨论了CR的VS面临的挑战和前景，随后是总结性评论。
